2016:Robot IO Map: Difference between revisions
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min switch = OPB815WZ | min switch = OPB815WZ | ||
max switch = | max switch = EE-SPY415 | ||
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40A breaker (21A max calc load) | 40A breaker (21A max calc load) | ||
<p style="line-height: 20.7999992370605px; text-align: center;">min switch = OPB815WZ</p><p style="line-height: 20.7999992370605px; text-align: center;">max switch = | <p style="line-height: 20.7999992370605px; text-align: center;">min switch = OPB815WZ</p><p style="line-height: 20.7999992370605px; text-align: center;">max switch = EE-SPY415</p> | ||
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Revision as of 09:19, 6 February 2016
Robot I/O
CAN ID Assignments
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 | |
1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | ||
2 | ||||||
3 | ||||||
4 | ||||||
5 | ||||||
6 | ||||||
7 | ||||||
8 | Breacher | motor | miniCIM | Breacher Bucket rotation | 40A breaker (26A max calc load) | |
9 | Breacher | motor | RS775 | Ball Intake rollers | 40A breaker (32A max calc load) | |
10 | Scaler | motor | RS775 | Winch #1 for scaler extension | min and max extension limit switches wired directly to speed controller |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
11 | Scaler | motor | RS775 | Winch #2 for scaler extension | min and max extension limit switches wired directly to speed controller |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
12 | Scaler | motor | Bag | Arm Pivot rotation | 30A breaker (13A max calc load) | |
13 | ||||||
14 | ||||||
15 | N/A |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes |
0 | Drivetrain | motor | CIM | Left Front Drive motor | 40A Breaker | |
1 | Drivetrain | motor |
CIM |
Left Back Drive motor | 40A Breaker | |
2 | Drivetrain | motor |
CIM |
Right Front Drive motor | 40A Breaker | |
3 | Drivetrain | motor |
CIM |
Right Back Drive motor | 40A Breaker | |
4 | ||||||
5 | ||||||
6 | ||||||
7 | ||||||
8 | ||||||
9 |
Relay Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | ||||||
1 | ||||||
2 | ||||||
3 |
Analog IO
RoboRIO Analog Inputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
0 | Drivetrain | Gyro | ADW22307 | drivetrain gyro position feedback | X-Y orientation | 2.5V centered | |
1 | Breacher | Potentiometer | 3852A-282-102AL | Breacher bucket shaft rotation | absolute position of beacher rotation | 1K ohms, linear taper | |
2 | |||||||
3 |
Rev Robotics More Board Analog IO
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
AIN0 | |||||||
AIN1 | |||||||
AIN2 | |||||||
AIN3 | |||||||
AOUT0 | |||||||
AOUT1 |
Digital IO (GPIO)
RoboRio IO
ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase A | Drivetrain rotation | |
1 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
2 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Right Encoder, Phase A | Drivetrain rotation | |
3 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
4 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation, Phase A | Scaler arm rotation position | |
5 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation,Phase B | Scaler arm rotation position | |
6 | IN | Breacher | Banner Opto | Q10RN6R | Ball Intake | Trips for ball fully into bucket | Q106E emitter |
7 | IN | Breacher | limit switch |
AAP2T51Z11 |
breacher rotation upper limit | monster switch | |
8 | IN | Breacher | limit switch | AAP2T51Z11 | breacher rotation lower limit | monster switch | |
9 |
Rev Robotics More Board IO
ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation |
Notes |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 | |||||||
8 | |||||||
9 | |||||||
10 | |||||||
11 | |||||||
12 | |||||||
13 | |||||||
14 | |||||||
15 |
I2C Registers
Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 |
SPI Devices
# |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
USB Host Ports
Address |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
0 | ||||||
1 |
Pneumatics Control Module
ID | Subsystem | Component Type |
Model # |
Description (brief) |
Operation |
Notes | Pressure Circuit |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 |
Operator Controls
.... tbd ....